The position compensation is made possible through specially developed elastomer elements. If a position offset occurs, the workpiece to be inserted will be moved automatically by the resulting reaction forces in such a way that jamming an wedging of the parts is prevented. Depending on the chamfer present, positioning misalignments of up to 3 mm and angular misalignments of up to 2 degrees can be compensated. The compensation takes place horizontally in the x-y plane and about the x-y-z axis for angular compensation. After extension, the element returns back into the starting postition through self-centering.

The length of the gripper and part （LX Value） is the determining parameter for assembly operations with close tolerance fittings and insertion operations in which minimum insertion forces are required. The LX vlaue （see table） is the maximum value which should not be exceedes for an FM type. For simple insertion or placing operations, the recommended payload is to be taken as the approximate value to determine the necessary model. It can be exceeded in case of slow travelling movements.
We shall be pleased to support you with your selection.
Attention: If the elastomers have come into contact with oil or chemicals, please contact us, because in that way you need special elastomers made of Perbunane.
If elastomers are for use in machine tools, then Perbunane elastomers must be used, because they are resistant to cooling media.

The compensation movement is implemented through linear roller guidance based on the compound slider principle. Compensation takes place without reaction force. The fixture can be locked in a central position using a double-action pneumatic cylinder. The compensation can take place two-dimensionally in the x-y direction.

The compensation movement is implemented through linear roller guidance based on the compound slider principle. Compensation takes place without reaction force. The fixture can be locked in a central position using a double-action pneumatic cylinder. The compensation can take place two-dimensionally in the x-y direction.

The position compensation takes place horizontally in the pushing or pulling direction through playless ball bearings. The insertion force is determined through pressure springs and the pressure of an integrated pneumatic cylinder. The base plate is driven out to monitor an approach or insertion motion; it is inserted to monitor a removal operation （see functional sketch）. The movement of the base plate is detected through an inductive sensor. In case of quick process movements, pressure can also be applied to the cylinder to block the unit.

• Release turning angle about z-axis
• Reset into the zero position
• Store rotary offset
• Adjustable rotary force

• Angle of rotation about the z axis

• Up to ± 30°

• Loading/unloading of workpiece carriers and machines
• Palletising
• Assembly

• Release the tipping angle about the x-y axes
• Release individual axis about the x or y axes
• Reset into the zero position

• Single axis tipping angle in the x-direction or in the y-direction

• Up to ± 5°

• Loading/unloading of workpiece carriers and machines
• Palletising
• Assembly

Robot and tool adapter plates are held in position pneumatically and form a rigid unit under normal working conditions. The release forces or moments are presrcibed through the preset air pressure. In case of an overload, the adapter plates release.
A sensor detects the extension and transmits a signal to the robot controller, which stops the robot unit. When the collision has been cleared and the tool returned to the vertical position again, the ULS/ULD unit returns to the starting position through two built-in centering pins.

The robot load limiter reacts to pressure forces in the z-direction, to moments about the x and y-axes and to torsional moments about the z-axis.

• Large opening stroke
• Low construction
• Light weight

• Gripper locking device for gripping inside and outside
• Synchronised gripper jaws

The parallel movement of the finger is accomplished by a jaws and pinion drive. As a result of the pressure of two opposing pistions the jaws move in a synchronised way towards each other.

• Parallel guiding of the jaws via 2 guide rails for high loads in the gripper jaws
• Pneumatic drive via 2 double-action pneumatic cylinders
• Electric drive via gear rods from a central pinion via low-play gearing from a highly dynamic sturdy DC motor
• Microcontrolled steering integrated in the gripper housing （Typ Compact）
• Simple standard in the external housing （Typ Light）
• Execution of any control command via standard digital inlets and outlets
• Only one power supply （24 V）